# config/zed2i_yaml
# Parameters for Stereolabs zed2i camera

---
/**:
    ros__parameters:
        general:
            camera_model: 'zed2i'
            camera_name: 'zed2i' # overwritten by launch file
            grab_resolution: 'HD1080' # The native camera grab resolution. 'HD2K', 'HD1080', 'HD720', 'VGA', 'AUTO'
            grab_frame_rate: 30 # ZED SDK internal grabbing rate

        video:
            brightness: 4 # [DYNAMIC] Image brightness. Range: 0-8
            contrast: 4 # [DYNAMIC] Image contrast. Range: 0-8
            hue: 0 # [DYNAMIC] Image hue. Range: 0 to 11

        depth:
            min_depth: 0.01 # Min: 0.01, Max: 3.0
            max_depth: 15.0 # Min: 0.5, Max: 20.0